CN106999209B

CN106999209B - Registration of optical shape sensing tools

Info

Publication number: CN106999209B
Application number: CN201580065302.XA
Authority: CN
Inventors: S·巴拉特; E·德赫甘马尔瓦斯特; M·L·弗莱克斯曼; J·克吕克尔; M·P·德雷尔; A·M·塔赫玛塞比马拉古奥施
Original assignee: Koninklijke Philips NV
Current assignee: Koninklijke Philips NV
Priority date: 2014-12-01
Filing date: 2015-11-30
Publication date: 2020-08-18
Anticipated expiration: 2035-11-30
Also published as: JP2017535377A; US11259774B2; EP3226785A1; WO2016088013A1; JP6841757B2; US20170265840A1; CN106999209A

Abstract

An interventional system employs an optical shape sensing tool (32) (e.g., a brachytherapy needle having embedded optical fiber (s)) and a grid (50, 90) for guiding insertion of the optical shape sensing tool (32) into an anatomical region relative to a grid coordinate system. The interventional system also employs a registration controller (74) for reconstructing a segment or an entirety of a shape of the optical shape sensing tool (32) relative to a needle coordinate system, an origin of the needle coordinate system being located at a point on the optical shape sensing tool (32), and for registering the needle coordinate system to the grid coordinate system from the reconstructed segment/entirety shape of the optical shape sensing tool (32) relative to the grid (50, 90) (i.e., the reconstruction of the segment/entirety shape of an OSS needle inserted/passed through the grid serves as a basis for grid/needle coordinate system registration).

Description

Registration of optical shape sensing tools

Technical Field

The present invention relates generally to ultrasound-guided interventions involving registration of a needle to a three-dimensional ("3D") ultrasound volume (e.g., biopsy and brachytherapy procedures). The invention relates in particular to registering an optical shape sensing tool to a 3D ultrasound volume.

Background

Generally, the stepper serves to hold/guide and, if necessary, translate/rotate the interventional tool(s) in order to facilitate ultrasound guided interventions (e.g., transperineal biopsy, internal radiation therapy such as permanent radioactive seed implants, temporary interstitial brachytherapy, etc.)

More specifically, brachytherapy procedures involve the use of a stepper to hold and translate/rotate a transrectal ultrasound ("TRUS") probe within a patient. The stepper is also used to hold the grid in a fixed position relative to the TRUS probe in order to guide the insertion of the needle into the patient.

For example, fig. 1A illustrates a typical brachytherapy setup involving a stepper having a frame 40 supporting a grid 50 and a tray 41 holding a TRUS probe 20. During the brachytherapy procedure, the grid 50 is strategically positioned relative to the patient's rectum, and a gear assembly (not shown) of the stepper is manually or automatically operated to translate and/or rotate the TRUS probe 20 into and out of the patient's rectum. Once TRUS probe 20 is properly positioned within the patient's rectum, mesh 50 may be used to guide the insertion of needle(s) 30 into the target anatomy (e.g., prostate) to facilitate the implantation of the radiation source(s) within the patient.

During the brachytherapy procedure, each channel 51 of the grid 50 is preoperatively registered to the 3D ultrasound volume generated by the TRUS probe 20 as is well known in the art. For example, as shown in fig. 1A, a grid coordinate system 52 of the grid 50 having an origin established at the lower left corner of the grid 50 is preoperatively registered to the image coordinate system 21 of the TRUS probe 20 having an origin established by the transducer array (not shown) of the TRUS probe 20.

Also during the brachytherapy procedure, the needle 30 has to be registered to the grid 50 for the purpose of tracking the needle 30 (in particular the tip of the needle 30) within the 3D ultrasound volume.

Specifically, the hub (hub)60 is attached to the proximal end of the needle 30 in order to establish a needle coordinate system 31 having an origin at the proximal attachment point of the hub 60 to the needle 30. Estimates of six (6) registration parameters are required to facilitate registration of the needle coordinate system 31 to the grid coordinate system 52. These six (6) registration parameters include:

(1) width translation parameter X indicating the registration distance between the X-axes of

coordinate systems

31 and 52 as best shown in FIG. 1B_TPWherein the needle 30 is inserted within the medial channel of the mesh 50;

(2) height translation parameter Y indicating the registration distance between the Y-axes of

coordinate systems

(3) depth translation parameter Z indicating the registration distance between the Z-axes of

coordinate systems

31 and 52 as best shown in FIG. 1A_TP；

(4) Pitch rotation parameter X indicating angular rotation of the needle 30 with respect to the X-axis of the needle coordinate system 31_RP(not shown);

(5) yaw rotation parameter X indicating the angular rotation of the needle 30 with respect to the Y-axis of the needle coordinate system 31_RP(not shown); and

(6) roll rotation parameter Z indicating angular rotation of the needle 30 with respect to the Z-axis of the needle coordinate system 31 as best shown in FIG. 1B_RP。

Referring to FIG. 1B, as is known in the art, a width translation parameter X_TPAnd a height translation parameter Y_TPMay be estimated based on the location of the selected channel 51 to guide the needle 30 relative to the grid coordinate system 52. Also, assuming the hub 60 is released, the needle 30 will enter and leave the selected channel 51 perpendicular to the surface of the grid 50, whereby a zero value may be assigned to the pitch rotation parameter X_RPAnd yaw rotation parameter Y_RPAnd (6) estimating. However, for the depth translation parameter Z_TPAnd a rolling rotation parameter Z_RPThe estimation of (b) may not be similarly implemented based on the selected channel 51.

As is known in the art, since the

coordinate systems

21 and 52 are registered, registering the needle coordinate system 31 to the grid coordinate system 52 is equivalent to registering the needle coordinate system 31 to the image coordinate system 21. Therefore, to facilitate registration of the needle coordinate system 31 to coordinate

systems

21 and 52, ultrasound sensing and electromagnetic tracking techniques have been proposed to provide for a depth translation parameter Z_TPAnd a rolling rotation parameter Z_RPIs estimated. Although such techniques have proven beneficial for tracking the tip of a needle 30 in a 3D ultrasound volume, the present invention provides for estimating a depth translation parameter Z_TPAnd a rolling rotation parameter Z_RPTo thereby track the shape of a segment or the entirety of the needle 30 as required by the procedure.

Disclosure of Invention

An alternative method of the invention is based on the integration of an optical shape sensing ("OSS") tool into an ultrasound guided intervention (e.g., a needle, catheter and guidewire of an OSS), which facilitates the real-time reconstruction of the shape of a segment or whole of an OSS tool (e.g., a OSS tool inserted/passed through a channel of a mesh) relative to the mesh as an estimated segment or whole tool tracking and depth translation parameter Z_TPAnd a rolling rotation parameter Z_RPTo thereby register the image, grid and needle coordinate systems.

For the purposes of the present invention, the term "optical shape sensing (" OSS ") tool" broadly encompasses any tubular body structure design (e.g., needles, catheters and guidewires) used for interventional procedures as known in the art prior to the present invention and as known after the present invention, whereby optical sensors are embedded within/attached to the tubular body. Examples of such optical sensors include, but are not limited to, fiber bragg gratings embedded within/attached to an optical fiber on a brachytherapy/biopsy needle, catheter or guidewire.

The present invention, in one form, is an interventional system that employs an OSS tool (e.g., a brachytherapy needle with embedded optical fibers) and a mesh for guiding (e.g., manually or automatically guiding) insertion of the OSS tool into an anatomical region (e.g., cranium, chest, breast, abdomen, genitalia, pubic, etc.) relative to a mesh coordinate system. The interventional system also employs a registration controller for reconstructing a shape of a segment or whole of an OSS tool relative to a needle coordinate system, the origin of the needle coordinate system being located at a point on the optical shape sensing tool (32), and for registering the needle coordinate system to a grid coordinate system based on the reconstructed shape of the segment or whole of the OSS tool relative to the grid (i.e., the reconstruction of the segment/whole shape of the OSS tool inserted/passed through the grid serves as a basis for grid/needle coordinate system registration).

For the purposes of this disclosure, the term "registration controller" broadly encompasses all structural configurations of an application-specific motherboard or application-specific integrated circuit that is housed within or linked to a computer or another instruction execution device/system for controlling application of the various inventive principles of this disclosure as described subsequently herein. The structural configuration of the registration controller may include, but is not limited to, processor(s), computer-usable/computer-readable storage medium(s), operating system, peripheral device controller(s), slot(s), and port(s). Examples of computers include, but are not limited to, server computers, client computers, workstations, and tablets.

A second form of the present invention is the reconstruction controller, including: a shape reconstruction module for reconstructing the shape of a segment or the entirety of an OSS tool relative to a needle coordinate system, the origin of the needle coordinate system being located at a point on the optical shape sensing tool (32); a tool registration module for registering the needle coordinate system to the grid coordinate system based on the reconstructed shape of the segment or the whole of the OSS tool relative to the grid (i.e., the reconstruction of the segment/whole shape of the OSS tool inserted/passed through the grid serves as a basis for the grid/needle coordinate system registration).

For purposes of the present invention, the term "module" broadly encompasses an application component of the registration controller that includes electronic circuitry or executable procedures (e.g., executable software and/or firmware).

A third form of the present invention is an interventional method involving inserting (e.g., manually or automatically inserting) an OSS tool into a grid relative to a grid coordinate system, the reconstruction controller reconstructing a shape of a segment or an entirety of the OSS tool relative to a needle coordinate system, an origin of the needle coordinate system being located at a point on the optical shape sensing tool (32), and the reconstruction controller registering the needle coordinate system to the grid coordinate system based on the reconstructed shape of the segment or the entirety of the OSS tool relative to the grid.

The foregoing forms and other forms of the present invention as well as various features and advantages of the present invention will become further apparent from the following detailed description of various embodiments of the present invention read in conjunction with the accompanying drawings. The detailed description and drawings are merely illustrative of the invention rather than limiting, the scope of the invention being defined by the appended claims and equivalents thereof.

Drawings

Fig. 1A and 1B illustrate exemplary brachytherapy settings of an ultrasound probe, a brachytherapy needle, a stepper, and a grid as known in the art.

Fig. 2 illustrates an exemplary embodiment of an interventional system according to the present invention.

Fig. 3 illustrates a flow chart representing an exemplary embodiment of an interventional method according to the present invention.

Fig. 4 illustrates a flow chart representing an exemplary embodiment of a needle registration method according to the present invention.

Fig. 5 illustrates an exemplary embodiment of a brachytherapy setup of an ultrasound probe, an optical shape sensing needle, a particle applicator, a stepper and a grid according to the present invention.

Fig. 6 illustrates a flow chart representing a second exemplary embodiment of a needle registration method according to the present invention.

Fig. 7 illustrates an exemplary embodiment of a brachytherapy setup of an ultrasound probe, an optical shape sensing needle, a stepper and an irregular grid according to the present invention.

Fig. 8 illustrates a flow chart representing a third exemplary embodiment of a needle registration method according to the present invention.

Fig. 9A and 9B illustrate side and front views, respectively, of an exemplary embodiment of a brachytherapy setup of an ultrasound probe, an optical shape sensing needle, a needle holder, a stepper and a grid according to the present invention.

Fig. 10 illustrates a flow chart representing a fourth exemplary embodiment of a needle registration method according to the present invention.

Fig. 11 illustrates an exemplary embodiment of a brachytherapy setup of an ultrasound probe, an optical shape sensing needle, an optical fiber, a stepper and a grid according to the present invention.

Fig. 12 illustrates a flow chart representing a fifth exemplary embodiment of a needle registration method according to the present invention.

Detailed Description

To facilitate an understanding of the present invention, an exemplary embodiment of the present invention will be provided herein as directed to replacing a standard needle (e.g., needle 30 of fig. 1) with an optical shape sensing ("OSS") needle (e.g., OSS needle 32 of fig. 2) and providing a grid-based interventional system for registering the OSS needle 32 to a grid (e.g., grid 50 of fig. 2) and a registration controller 74 of an ultrasound probe (e.g., TRUS probe 20 of fig. 2). From the description of the exemplary embodiments shown in fig. 2-12, those of ordinary skill in the art will appreciate how to make and implement the present invention within any grid-based interventional procedure (e.g., brachytherapy and biopsy procedures) involving one or more types of OSS tools (e.g., needles, catheters, guidewires) and one or more types of ultrasound probes (e.g., TRUS probes).

For purposes of the present invention, terms of the art, including, but not limited to, "mesh," "hub," "fiber," "particle applicator," "imaging," "reconstruction," "registration," and "coordinate system," are to be construed as known in the art of the present invention.

Referring to fig. 2, the OSS needle 32 is shown inserted within a channel 51 of the grid 50. In fact, optical sensors (not shown) may be embedded within/attached to the OSS needle 32 in any arrangement suitable for reconstructing the segmented/overall shape of the OSS needle 32. In one embodiment, one or more optical fibers each having a fiber bragg grating are embedded within/affixed to the brachytherapy/biopsy needle.

Also, for registration purposes, the distal end of the OSS needle 32 may be disposed within the passage 51 (not shown), or the distal end of the OSS needle 32 may be extended through the passage 51 as shown in fig. 2, whereby the distal section 32D of the OSS needle 32 may be inserted within an anatomical region (e.g., the prostate), and whereby either or both of the distal section 32D and the proximal section 32P of the OSS needle 32 serve as parameters for estimating the depth translation parameter Z_TPAnd a rolling rotation parameter Z_RPThe basis of (1).

Similar to the needle 30 (fig. 1), a hub 60 is attached to the proximal end of the OSS needle 32 in order to establish a needle coordinate system 33 having an origin at the proximal attachment point, as shown in fig. 2. Alternatively, the origin of the needle coordinate system may be established at any other point along the OSS needle of the present invention (e.g., the distal end of the OSS needle 32).

Optionally, hub markers 61 may be attached to the hub 60 to facilitate insertion/passage of the OSS needle 32 in a known orientation into/through the channel 51 for registration purposes as will be explained later herein.

The registration machine 70 employs a monitor 71, an interface platform 72 and a workstation 73 as is known in the art.

Although not shown for clarity, one of ordinary skill in the art will appreciate how to couple the TRUS probe 20 and OSS needle 32 to the workstation 73 for processing ultrasound data and optical data, respectively.

The workstation 73 has a registration controller 74 mounted therein.

Registration controller 74 includes and/or is accessible by an operating system (not shown) as is known in the art to control various graphical user interfaces, data and images on monitor 71 as directed by a workstation operator (e.g., a doctor, technician, etc.) via a keyboard, buttons, dials, joysticks, etc. of interface platform 72, and to store/read data as programmed and/or directed by the workstation operator of interface platform 72.

For registration purposes, registration controller 74 also executes application modules including an ultrasound imaging module 75, a shape reconstruction module 76, and a tool registration module 77.

An ultrasound imaging module 75 is structurally configured within registration controller 74 to generate ultrasound images relative to image coordinate system 21 from ultrasound data provided by TRUS probe 20 as is known in the art. In fact, the ultrasound data/images may be in any form suitable for registration purposes. In one embodiment, the ultrasound image is a 3D ultrasound volume generated by reconstruction of two-dimensional ("2D") parallel slices or by use of a 3D probe.

A shape reconstruction module 76 is structurally configured within the registration controller 74 to reconstruct the segmental/overall shape of the OSS needle 32 relative to the needle coordinate system 33 from optical data provided by the OSS needle 32 as is known in the art.

A tool registration module 77 is structurally configured within registration controller 74 to register needle coordinate system 33 to preoperatively/intraoperatively registered probe coordinate system 21 and grid coordinate system 52 in accordance with the present invention as described subsequently herein. Indeed, registration controller 74 may include additional modules for pre/intra-operative registration of probe coordinate system 21 with grid coordinate system(s) 52 as known in the art.

In operation, registration controller 74 controls the registration process according to a particular embodiment of tool registration module 77, which is prompted by the operator of registration machine 70. To this end, fig. 3 illustrates a flow chart 130 representative of the interventional method of the present invention as controlled by the registration controller 74 generally for any embodiment of the tool registration module 77.

Referring to fig. 3, the pre-registration stage S132 of the flowchart 130 encompasses the width translation parameter X_TPAnd a height translation parameter Y_TPIs estimated. In fact, the estimate may be calculated in any way suitable for registration purposes. In one embodiment, the width translation parameter X_TPAnd a height translation parameter Y_TPMay be manually estimated based on the known location of the selected channel 51 within the grid coordinate system 52. In a second embodiment, the width translation parameter X_TPAnd a height translation parameter Y_TPMay be automatically estimated based on the use of sensors (not shown) in or near the grid 50 that detect the path of the OSS needle 32 into/through a particular channel 51. Alternatively, the width translation parameter X_TPAnd a height translation parameter Y_TPMay be estimated during the registration stage 134 of the flowchart 130, as will be described later herein.

In practice, more than one OSS needle 32 may be registered sequentially or simultaneously by the tool registration module 77. As such, the pre-registration stage S132 of the flowchart 130 also encompasses reconstruction of the segmental/overall shape of the one or more OSS needles 32.

A pre-registration stage S132 of flowchart 130 optionally encompasses acquiring one or more ultrasound images depending on an embodiment of tool registration module 77. In practice, each ultrasound image may be associated with a reconstruction of the segmental/overall shape of one or more OSS needles 32.

Upon completion of stage S132 or during stage S132, if desired, a registration stage S134 of flowchart 130 encompasses the direct or indirect estimation of depth translation parameter Z by tool registration module 77_TPAnd/or directly or indirectly estimating the roll rotation parameter Z by the tool registration module 77_RP. To facilitate an understanding of the registration stage S134, various embodiments of the tool registration module 77 will now be described herein as shown in fig. 4-12.

Image-based registration. Referring to fig. 4, a flow chart 140 represents the image-based needle registration method of the present invention for estimating the depth translation parameter Z of the OSS needle 32 from the detection of the reconstructed segment shape of one or more OSS needles 32 within an ultrasound image_TPAnd a rolling rotation parameter Z_RP。

Specifically, for a single OSS needle 32, a pre-registration stage S132 (fig. 3) preceding the flowchart 140 involves, in order, (1) inserting, either physically or virtually, the distal end of the OSS needle 32 into/through the passage 51 of the mesh 50 into the anatomical region, (2) recording the known position of the passage 51 within the mesh coordinate system 52, (3) reconstructing the overall shape of the OSS needle 32, and (4) acquiring an ultrasound image of a segment of the OSS needle 32 within the anatomical region.

Upon completion of the pre-registration stage S132, a stage S142 of the flowchart 140 encompasses detection of a reconstructed segment of the OSS needle 32 within the ultrasound image by the tool registration module 77. A stage S144 of flowchart 140 encompasses registration of coordinate

systems

21, 33, and 52 by tool registration module 77 in accordance with the detected reconstruction segment of OSS needle 32 within the ultrasound image, and a stage S146 of flowchart 140 encompasses recording of the location of the reconstructed shape of OSS needle 32 within image coordinate system 21 by tool registration module 77 for the purpose of displaying an icon of the reconstructed segment shape within the ultrasound image (e.g., icon 78 as shown in fig. 2).

An exemplary embodiment of flowchart 140 relates to tool registration module 77 that performs known technique(s) for identifying and segmenting needle-like structures in ultrasound images. For this purpose, the known position of the channel 51 within the grid coordinate system 52 can be used to limit the processing area of the ultrasound image. In one embodiment, the matching curve or shape of the identified needle segment(s) and the reconstructed overall shape of the OSS needle 32 may be used to detect the reconstructed segment shape in the ultrasound image. In a second embodiment, the registration parameters may be optimized to maximize the overlap between the identified segmented structure(s) and the reconstructed segment shape in the ultrasound image. Also, the two embodiments may be combined.

The pre-registration stage S132 and the flowchart 140 are repeated for each OSS needle 32. Following the termination of flowchart 140, the tracking of the segment of OSS needle 32 with the ultrasound image facilitates the performance of applicable interventional procedures including, but not limited to, permanent LDR seed implants, HDR brachytherapy (temporary radiation source insertion), transperineal biopsy, ablation, and cryotherapy. For example, in the case of a permanent LDR seed implant, each seed location within the anatomical region may be planned according to the recorded shape location of the OSS needle(s) 32 within the ultrasound coordinate system 21.

Particle applicator registration. Referring to fig. 5, this registration incorporates a particle applicator 80 to deliver particles (not shown) (e.g., anteriorly) to an anatomical region (not shown) as known in the artFor prostate delivery of brachytherapy particles

An applicator). Generally, as applied to the OSS needles 32 of the present invention similar to the prior art, each OSS needle is inserted through a channel 51 of the mesh 50 under ultrasound guidance whereby the distal segment 32D extends into the anatomical region. To facilitate delivery of the particles, the particle applicator 80 is then attached to the hub 60, and the guide ring 81 is extended beyond the proximal segment 32P of the OSS needle 32 to the mesh 50. For this registration embodiment, the origin of the needle coordinate system established at the distal end of the needle 32 preferably coincides with the origin having the position where each particle falls.

Referring to fig. 6, a flow chart 150 represents the particle applicator based needle registration method of the present invention for estimating a depth translation parameter Z from a measurement of the distance from the hub 60 as attached by the particle applicator 80 to the mesh ring 81 as adjacent to the mesh 50_TPAnd for estimating the rotation parameter Z of the OSS needle 32 from the positioning of the hub 61 relative to the particle applicator 80 (e.g. the hub 60 is facing downwards)_RP。

Specifically, for a single OSS needle 32, a pre-registration stage S132 (fig. 3) preceding the flowchart 150 sequentially involves (1) inserting, either physically or virtually, the distal end of the OSS needle 32 into/through the passage 51 of the grid 50, whereby the distal segment 32D extends into the anatomical region, and (2) recording the known position of the passage 51 within the grid coordinate system 52. For each particle to be delivered by a single OSS needle 32, the pre-registration stage S132 involves reconstruction of the segmental/overall shape of the OSS needle 32.

Upon completion of pre-registration stage S132 (fig. 3), stage S152 of flowchart 150 encompasses measurement of the distance from hub 60 as attached by particle applicator 80 to mesh ring 81 as adjacent mesh 50. A stage S154 of flowchart 150 encompasses registration of coordinate

systems

21, 33, and 52 by tool registration module 77 as a function of the measured distance from hub 60 as attached by particle applicator 80 to mesh ring 81 as adjacent mesh 50, and a stage S156 of flowchart 150 encompasses recording of the location of the reconstructed shape of OSS needle 32 within image coordinate system 21 by tool registration module 77 for the purpose of displaying an icon of the reconstructed segment shape within the ultrasound image (e.g., icon 78 as shown in fig. 2).

The exemplary embodiment of the flowchart 150 involves the particle applicator 80 being used to (1) load the near distance therapeutic particles into the OSS needle 32 one by one, (2) push the particles out of the OSS needle 32, and (3) retract the OSS needle 32 a predefined distance. As the particles fall within the anatomical region, each position of the particle fall is recorded by the tool registration module 77 and used to update the treatment plan. More specifically, first, the OSS needle 32 is inserted to a desired depth with the hub marker 61 facing down. The particle applicator 80 grasps the hub 60 and the mesh ring 81 is advanced to the mesh 50. At this point, the mesh hole location, hub marker orientation (down), and distance from the hub 60 to the mesh 50 may be processed to register the OSS needle 32 to the mesh 50 and thus to the ultrasound volume. The obturator (not shown) of the particle applicator 80 is retracted to load the particles into the OSS needle 32. The obturator is then pushed to cause the particles to fall into the anatomical region. As the closure reaches the end of its path, the hub to grid 50 distance can be used to locate the needle end and particle drop position. The distance is measured manually or automatically by equipping the particle applicator 80 with a sensor. This process is repeated until all particles are dropped. Thus, the positions of all particles in the OSS needle 32 are estimated and can be used for planning updates if needed.

Irregular mesh registration. Referring to fig. 7, the registration incorporates an irregular grid 90 that is different from the regular grid 50 (fig. 1). More specifically, for the purposes of the present invention, the term "irregular grid" broadly encompasses grids in which: rather than having a substantially, if not completely, uniform shape between all channels, which hinders the ability to distinguish channels for registration purposes, the mesh has a degree of shape non-uniformity between two (2) or more channels to thereby distinguish channels for registration purposes. For example, the irregular grid 90 has shape non-uniformities between the channels 91-95 as shown to thereby distinguish the channels 91-95 for registration purposes. In this example, the common upward direction of the channels 91-95The point S-curve is offset in the proximal direction that descends the row.

Indeed, the shape of one or more grid channels may be unique in order to facilitate determining those grid channel(s) within the grid coordinate system based on the unique shape(s) as described later herein.

Also, in practice, the irregular grid of the present invention may be manufactured according to standard manufacturing practices, or may be manufactured as an attachment to a standard grid that extends one or more of the grid channels into a unique shape(s) (e.g., an attachment to the front or back side of the grid 50 shown in fig. 1).

Referring to fig. 8, a flow chart 160 represents the irregular mesh-based needle registration method of the present invention for estimating the depth translation parameter Z of the OSS needle 32 from the different shapes of each channel of the irregular mesh 90_TPAnd a rotation parameter Z_RPOnly the channels 91-95 of the irregular grid 90 are shown.

Specifically, for a single OSS needle 32, a pre-registration stage S132 (fig. 3) preceding the flowchart 160 involves, in order, (1) inserting the distal end of the OSS needle 32 into/through the passage of the irregular grid 90, and (2) reconstructing the segmental/overall shape of the OSS needle 32.

Upon completion of pre-registration stage S132, stage S162 of flowchart 160 encompasses correlating, by tool registration module 77, the curved plot of the reconstructed shape of OSS needle 32 with the template curve of each channel of irregular grid 90 in order to identify the appropriate channel. A stage S164 of the flowchart 160 encompasses measurement of the proximal segment 32P of the OSS needle 32 relative to the identified template bend of the channel. A stage S166 of flowchart 160 encompasses registration of proximal segment 32P of OSS needle 32 to coordinate

systems

21, 33 and 52 by tool registration module 77 according to the measured template curve relative to the identified passage; and, a stage S168 of flowchart 160 encompasses recording, by tool registration module 77, a position of the reconstructed shape of OSS needle 32 within image coordinate system 21 for the purpose of displaying an icon of the reconstructed segment shape within the ultrasound image (e.g., icon 78 as shown in fig. 2).

Representation of the flow chart 150The exemplary embodiment involves each shape of the irregular grid 90 having only a gradually curving channel that would allow the OSS needle 32 to pass through. Each channel shape may be unique, whereby the channel is identified by analyzing the curvature of each channel shape, whereby all translation parameters may be determined. Optionally, the channel shape may be repeated and the user identifies which grid hole is being used, thereby translating the parameter X_TPAnd Y_TPAre known. The identified location of the non-uniformity in the channel shape provides a depth translation parameter Z_TPIs estimated. The curvature of the channel shape also provides a parameter Z for the roll rotation_RPIs estimated. The origin of the optical shape sensing system is in the hub (or handle) of the needle. Thus, the needle can be registered to the grid 90 and thus to the ultrasound image. More specifically to the curvature dependence, the unique curvature is preferably visualized at three (3) different points along the reconstructed shape of the OSS needle 32. Such a bend is uniquely identified using a pattern that matches the template bend used to identify the portion of the OSS needle 32 that is disposed within the template shape of the particular channel.

Needle carrier registration. Referring to fig. 9A and 9B, this registration incorporates a needle carriage 100 supporting insertion of the OSS needle 32 into one of the channels 51 of the grid 50. In general, the needle park 100 has a base 101 that partially encloses the hub 60 and hub indicia 61 and a pair of

rails

102R and 102L that mount the needle park 100 to the grid 50 adjacent to the selected channel 51 of the grid 50.

Referring to FIG. 10, a flow chart 170 illustrates a needle carriage-based needle registration method of the present invention for estimating a depth translation parameter Z based on the length of

rails

102R and 102L_TPAnd for estimating a rotation parameter Z of the OSS needle 32 from a recess of the base 101 partially enclosing the hub 60 and the hub markings 61 by the base 101_RP。

Specifically, for a single OSS needle 32, a pre-registration stage S132 (fig. 3) preceding the flowchart 150 involves, in order, (1) inserting/passing the distal end of the OSS needle 32 through the channel 51 of the grid 50 as supported by the needle park 100, (2) recording the known position of the channel 51 within the grid coordinate system 52, and (3) reconstructing the segment/overall shape of the OSS needle 32.

Upon completion of pre-registration stage S132, a stage S172 of flowchart 170 encompasses tool registration module 77 determining depth translation parameter Z relative to the lengths of

rails

102R and 102L_TP. In one embodiment of stage S172, if the distal end of the OSS needle 32 is flush with the mesh 50, the depth translation parameter Z_TPEqual to the length of

rails

102R and 102L. In a second embodiment of stage S172, the distance of the OSS needle 32 along the

rails

102R and 102L may be measured, particularly when the distal end of the OSS needle 32 is spaced from the mesh.

A stage S174 of flowchart 170 encompasses a depth translation parameter Z by tool registration module 77 according to a length equal to

rails

102R and 102L_TPRegistration of coordinate

systems

21, 33 and 52. A stage S176 of flowchart 170 encompasses recording, by tool registration module 77, a position of the reconstructed shape of OSS needle 32 within image coordinate system 21 for the purpose of displaying an icon (e.g., icon 78 as shown in fig. 2) of the reconstructed segment shape within the ultrasound image.

The exemplary embodiment of the flow chart 170 relates to an improvement of the needle rack 100 over existing commercial grids (e.g., grid 50). The attachment of needle rack 100 to grid 50 may use magnetic notches to attach to grid 50 or any other suitable attachment means. As shown, the hub 60 and hub markings 61 fit snugly in the needle carrier 100, thereby fixing the roll rotation parameter Z relative to the grid 50_RP. Additionally, since the base 101 of the needle carriage 100 is at a known depth from the grid 50, when the OSS needle 32 is positioned in the notch of the base 101, the OSS needle 32 is registered to the grid 50 and thus to the ultrasound image. In one embodiment, the depth of insertion of the OSS needle 32 into the anatomical region is determined by a change in temperature as the OSS needle 32 enters the anatomical region. Known curved features may be used to enhance this embodiment as is known in the art. Optionally, the needle carriage 100 is fitted with a relative position encoder (not shown) that estimates the magnitude of needle motion along the needle carriage 100 (i.e., perpendicular to the grid) relative to a registration point (notch) on the base 101.

And (4) registering the optical fibers. Referring to fig. 11, this registration incorporates fibers 110 for projecting the bound position (measured position) of the OSS needle 32 relative to the fibers 110 to the grid 50. Generally, the optical fibers 110 are connected to the mesh 50 (e.g., the lower left corner of the mesh 50 as shown) and the hub 60 (e.g., the open face as shown). More specifically, the optical fibers 110 may be connected in a manner that registers the optical fibers 110 to the grid coordinate system and optionally to the needle coordinate system. (e.g., a connection at or near the origin of the grid coordinate system and the needle coordinate system). The reconstructed shape of the optical fiber 110 facilitates projection of the reconstructed shape of the OSS needle 32 relative to the tethered location of the optical fiber 110 to the mesh 40, which facilitates registration of the OSS needle 32 to the image coordinate system 21.

Specifically, for a single OSS needle 32, a pre-registration stage S132 (fig. 3) (see fig. 12) preceding the flowchart 180 involves (1) inserting/passing the distal end of the OSS needle 32 (shown in fig. 11 as distal segment 32D and proximal segment 32P) into/through the passage 51 of the mesh 50, and (2) reconstructing the overall shape of the OSS needle 32.

Upon completion of pre-registration stage S132, a stage S182 of flowchart 180 encompasses tool registration module 77 reconstructing the overall shape of optical fiber 110 to thereby project the reconstructed shape of OSS needle 32 relative to the tethered location of optical fiber 110 through the selected channel of grid 50 to grid 50. A stage S184 of flowchart 180 encompasses the registration of coordinate

systems

21, 33, and 52 by tool registration module 77 according to the projected reconstructed shape of OSS needle 32. A stage S186 of flowchart 180 encompasses recording, by tool registration module 77, the position of the reconstructed shape of OSS needle 32 within image coordinate system 21 for the purpose of displaying an icon of the reconstructed segment shape within the ultrasound image (e.g., icon 78 as shown in fig. 2).

Optionally, the probe 20 may be equipped with optical fiber(s) and similarly registered to the grid 50 based on a reconstruction of the shape of the optical fiber(s). Registration may be performed at a known position of the probe 20 relative to the grid 50.

After registration. Referring back to fig. 3, after completion of flowchart 130 by a particular embodiment of tool registration module 77, registered OSS needle 33 is tracked by tool registration module 77 of registration controller 74 or an additional tracking module. In practice, tracking of the registered OSS needle 33 may be carried out by various tracking methods known in the art. As herein before describedIn one embodiment previously described utilizing needle carriage registration, the depth of insertion of the OSS needle 32 into the anatomical region is determined by the temperature change along the OSS needle 32 as the OSS needle 32 is advanced into/navigated within the anatomical region. More specifically, referring to fig. 2, when the OSS needle 32 is inserted into the anatomical region, the placement of the mesh against the anatomical region facilitates registration of the needle coordinate system 21 to the mesh coordinate system 52 based on the detection of any temperature changes along the reconstruction of the OSS needle 32.

Also in practice, the OSS needle 32 may be re-registered during the interventional procedure if needed or desired.

2-12, in accordance with the description of the exemplary embodiments of the present invention, those having ordinary skill in the art will appreciate numerous benefits of the interventional systems and methods of the present invention, including but not limited to real-time 3D tracking and imaging for registration of any grid-based interventional procedure.

Furthermore, as will be appreciated by those of ordinary skill in the art in view of the teachings provided herein, the features, elements, components, etc. described in this disclosure/description and/or depicted in fig. 1-12 can each be implemented in various combinations of electronic components/circuitry, hardware, executable software and executable firmware, particularly application modules of controllers as described herein, and provide functionality that can be combined in a single element or multiple elements. For example, the functions of the various features, elements, components, etc. shown/illustrated/depicted in fig. 1-12 can be provided through the use of dedicated hardware as well as hardware capable of executing software in association with appropriate software. When provided by a processor, the functions can be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors, some of which can be shared and/or multiplexed. Moreover, explicit use of the term "processor" or "controller" should not be construed to refer exclusively to hardware capable of executing software, and can also implicitly include, without limitation, digital signal processor ("DSP") hardware, memory (e.g., read only memory ("ROM") for storing software, random access memory ("RAM"), non-volatile storage, etc.), and virtually any means and/or machine (including hardware, software, firmware, circuitry, combinations thereof, etc.) capable of (and/or configurable) to perform and/or control a process.

Moreover, all statements herein reciting principles, aspects, and embodiments of the invention, as well as specific examples thereof, are intended to encompass both structural and functional equivalents thereof. Additionally, it is intended that such equivalents include both currently known equivalents as well as equivalents developed in the future (i.e., any elements developed that perform the same function, regardless of structure). Thus, for example, in view of the teachings provided herein, it will be appreciated by those skilled in the art that any block diagrams presented herein can represent conceptual views of exemplary system components and/or circuitry embodying the principles of the invention. Similarly, those of ordinary skill in the art should appreciate in view of the teachings provided herein that any flow charts, flow diagrams and the like represent various processes which may be substantially represented in computer readable storage media and so executed by a computer, processor or other device having processing capability, whether or not such computer or processor is explicitly shown.

Furthermore, exemplary embodiments of the invention can take the form of a computer program product or an application module accessible from a computer-usable and/or computer-readable storage medium providing program code for use by or in connection with a computer or any instruction execution system. In accordance with the present disclosure, a computer-usable or computer-readable storage medium can be, for example, any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. Such an exemplary medium can be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system (or apparatus or device) or a propagation medium. Examples of a computer-readable medium include, for example, a semiconductor or solid state memory, magnetic tape, a removable computer diskette, a Random Access Memory (RAM), a read-only memory (ROM), a flash disk (drive), a rigid magnetic disk and an optical disk. Current examples of optical disks include compact disk-read only memory (CD-ROM), compact disk-read/write (CD-R/W), and DVD. Additionally, it should be appreciated that any new computer-readable media that may be developed thereafter is also to be considered computer-readable media that may be used or involved with exemplary embodiments of the present invention and disclosure.

Having described preferred and exemplary embodiments for a system and method for registration of OSS tools (which are intended to be illustrative and not limiting), having the novelty and inventiveness, it is noted that modifications and variations can be made by persons skilled in the art in light of the teachings provided herein, including fig. 1-12. It is therefore to be understood that changes can be made in/to the preferred and exemplary embodiments of the disclosure which are within the scope of the embodiments disclosed herein.

Further, it is contemplated that corresponding and/or related systems that include and/or implement devices according to the present disclosure or such as can be used/implemented in the devices are also contemplated and considered to be within the scope of the present invention. Moreover, corresponding and/or related methods for making and/or using devices and/or systems according to the present disclosure are also contemplated and considered to be within the scope of the present invention.

Claims

1. An interventional system, comprising:

an optical shape sensing tool (32);

a grid (50, 90) usable to guide insertion of the optical shape sensing tool (32) into an anatomical region relative to a grid coordinate system; and

a registration controller (74) in communication with the optical shape sensing tool (32),

wherein the registration controller (74) is structurally configured to reconstruct a shape of at least a segment of the optical shape sensing tool (32) relative to a needle coordinate system, an origin of the needle coordinate system being located at a point on the optical shape sensing tool (32), and

wherein the registration controller (74) is further structurally configured to register the needle coordinate system to the grid coordinate system based on a reconstructed shape of at least the section of the optical shape sensing tool (32) relative to the grid (50, 90).

2. The interventional system of claim 1, further comprising:

an ultrasound probe (20) in communication with the registration controller (74);

wherein the registration controller (74) is further structurally configured to generate an ultrasound image of the anatomical region relative to an image coordinate system registered to the grid coordinate system; and is

Wherein the registration controller (74) is further structurally configured to register the needle coordinate system to the grid coordinate system in accordance with detection of a reconstructed segment shape of the optical shape sensing tool (32) within the ultrasound image.

3. The interventional system of claim 2, further comprising:

wherein the registration controller (74) is further structurally configured to generate an icon of the reconstruction segment shape of the optical shape sensing tool (32) for displaying an overlay on the ultrasound image.

4. The interventional system of claim 2, further comprising:

an optical fiber (110) connected to the ultrasound probe (20) and in communication with the registration controller (74); and the number of the first and second electrodes,

wherein the registration controller (74) is structurally further configured to register the image coordinate system to the grid coordinate system in accordance with a reconstructed shape of the optical fiber (110) indicating a bound position on the grid relative to an origin of the image coordinate system.

5. The interventional system of claim 1, further comprising:

a particle applicator (80) attached to the optical shape sensing tool (32) to measure a distance between the grid (50, 90) and an origin of the needle coordinate system; and is

Wherein the registration controller (74) is further structurally configured to register the needle coordinate system to the grid coordinate system as a function of the measurement of the distance between the grid (50, 90) and the origin of the needle coordinate system via the particle applicator (80).

6. The interventional system of claim 1,

wherein the grid (50, 90) comprises at least one irregular channel having a non-uniform shape for inserting the optical shape sensing tool (32) into the anatomical region relative to the grid coordinate system; and is

Wherein the registration controller (74) is further structurally configured to register the needle coordinate system to the grid coordinate system according to a correlation of a reconstruction segment of the optical shape sensing tool (32) with a template curvature for each irregular channel of the grid (50, 90) having a non-uniform shape.

7. The interventional system of claim 1, further comprising:

a needle mount (100) supporting the optical shape sensing tool (32) to measure a distance between the grid (50, 90) and an origin of the needle coordinate system; and is

Wherein the registration controller (74) is further structurally configured to register the needle coordinate system to the grid coordinate system as a function of the measurements of the distances between the grid (50, 90) and the origin of the needle coordinate system via the needle mount (100).

8. The interventional system of claim 1, further comprising:

an optical fiber (110) connected to the grid (50, 90) and the optical shape sensing tool (32), the optical fiber (110) further in communication with the registration controller (74); and is

Wherein the registration controller (74) is structurally further configured to register the needle coordinate system to the grid coordinate system in accordance with a reconstructed shape of the optical fiber (110) indicating a binding position on the grid relative to an origin of the needle coordinate system.

9. The interventional system of claim 1,

wherein the registration controller (74) is further structurally configured to detect any temperature changes along the optical shape sensing tool (32); and is

Wherein the registration controller (74) is further structurally configured to register the needle coordinate system to the grid coordinate system based on any detected temperature changes along the optical shape sensing tool (32).

10. A registration controller (74) for registering an optical shape sensing tool (32) to a grid (50, 90) to guide insertion of the optical shape sensing tool (32) into an anatomical region relative to a grid coordinate system, the registration controller (74) comprising:

a shape reconstruction module (76) structurally configured to reconstruct a shape of the optical shape sensing tool (32) relative to a needle coordinate system, an origin of the needle coordinate system being located at a point on the optical shape sensing tool (32), and

a tool registration module (77) structurally configured to register the needle coordinate system to the grid coordinate system based on a reconstructed shape of the optical shape sensing tool (32) relative to the grid (50, 90) made by the shape reconstruction module (76).

11. The registration controller (74) of claim 10, wherein the tool registration module (77) is further structurally configured to register the needle coordinate system to the grid coordinate system based on a detection by the tool registration module (77) of a reconstructed segment shape of the optical shape sensing tool (32) within an ultrasound image of the anatomical region relative to an image coordinate system registered to the grid coordinate system.

12. The registration controller (74) of claim 10, wherein the tool registration module (77) is further structurally configured to register the needle coordinate system to the grid coordinate system as a function of a measurement of a distance between the grid (50, 90) and the origin of the needle coordinate system.

13. The registration controller (74) of claim 10,

Wherein the tool registration module (77) is structurally further configured to register the needle coordinate system to the grid coordinate system according to a correlation of a reconstructed segment of the optical shape sensing tool (32) with a template curvature for each irregular channel of the grid (50, 90) having a non-uniform shape.

14. The registration controller (74) of claim 10, wherein the tool registration module (77) is further structurally configured to register the needle coordinate system to the grid coordinate system according to a reconstructed shape of an optical fiber (110) indicating a bound location on the grid relative to an origin of the needle coordinate system.

15. The registration controller (74) of claim 10,

wherein the shape reconstruction module (76) is further structurally configured to detect any temperature changes along the optical shape sensing tool (32); and is

Wherein the tool registration module (77) is structurally further configured to register the needle coordinate system to the grid coordinate system based on any detected temperature changes along the optical shape sensing tool (32).